function ll = obj_main(x, psi0, PP0, y, y5, pi, forecast)
    
    xparam = x(1:4);
    hhparam = x(5:end);
    %psi0 = x(5+3*N:end);
    [ll,~] = measurement(xparam, hhparam, psi0, PP0, y, y5, pi, forecast);
    
end